Abstract: While Space Robot（SR） manipulator movement along predetermined trajectory to complete space operations，satellite body attitude will be disturbed，which affects thee normal communication and orientation of solar panels and increases the attitude control fuel consumption.First，by analysis of Nonholonomic Redundancy（NR） about SR and different tasks being solved with SR inverse kinematics and dynamics，flexible criterion of Fixed-Attitude-Controlled Jacobian Matrix（FACJM） without attitude disturbance is put forward.Second，based on task hierarchy and NR control equation for SR，motion control algorithm with minimum attitude disturbance be developed.Finally，the effectiveness of the algorithm is verified by computer simulation.Research results show that the algorithm can minimize the satellite body attitude disturbance caused by manipulator movement to save valuable fuel for SR attitude control.